相关论文: Study of Dropout in PointPillars with 3D Object De…

Out-of-distribution detection (OOD) deals with anomalous input to neural networks. In the past, specialized methods have been proposed to reject predictions on anomalous input. Similarly, it was shown that feature extraction models in…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Research on monocular 3D object detection is being actively studied, and as a result, performance has been steadily improving. However, 3D object detection performance is significantly reduced when applied to a camera system different from…

3D Object Detectors (3D-OD) are crucial for understanding the environment in many robotic tasks, especially autonomous driving. Including 3D information via Lidar sensors improves accuracy greatly. However, such detectors perform poorly on…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

In this work, we present a novel scheduling framework enabling anytime perception for deep neural network (DNN) based 3D object detection pipelines. We focus on computationally expensive region proposal network (RPN) and per-category…

Imitation learning by behavioral cloning is a prevalent method that has achieved some success in vision-based autonomous driving. The basic idea behind behavioral cloning is to have the neural network learn from observing a human expert's…

Connecting multiple machine learning models into a pipeline is effective for handling complex problems. By breaking down the problem into steps, each tackled by a specific component model of the pipeline, the overall solution can be made…

Dropout and its extensions (eg. DropBlock and DropConnect) are popular heuristics for training neural networks, which have been shown to improve generalization performance in practice. However, a theoretical understanding of their…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…

We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…

A common dilemma in 3D object detection for autonomous driving is that high-quality, dense point clouds are only available during training, but not testing. We use knowledge distillation to bridge the gap between a model trained on…

In autonomous driving, 3D object detection is essential for accurately identifying and tracking objects. Despite the continuous development of various technologies for this task, a significant drawback is observed in most of them-they…

Noise injection-based regularization, such as Dropout, has been widely used in image domain to improve the performance of deep neural networks (DNNs). However, efficient regularization in the point cloud domain is rarely exploited, and most…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

We present 3DiffTection, a state-of-the-art method for 3D object detection from single images, leveraging features from a 3D-aware diffusion model. Annotating large-scale image data for 3D detection is resource-intensive and time-consuming.…

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally…

Out-of-distribution (OOD) detection is a critical requirement for reliable autonomous driving, where safety depends on recognizing road obstacles and unexpected objects beyond the training distribution. Despite extensive research on OOD…

Dropout is a popular regularization technique in deep learning. Yet, the reason for its success is still not fully understood. This paper provides a new interpretation of Dropout from a frame theory perspective. By drawing a connection to…

Deep neural networks (DNNs) are increasingly integrated into LiDAR (Light Detection and Ranging)-based perception systems for autonomous vehicles (AVs), requiring robust performance under adversarial conditions. We aim to address the…